Ralph Stirling wrote: > That did it! D=0.12 gives me much smoother f-error at > higher accelerations. I had always assumed that derivative > term would make oscillations worse, so didn't play with it > much. At D=0.14 new oscillations appear, but at D=0.08 to > 0.12 the 10Hz resonance disappears. > That's what the D is FOR! But, too much amplifies the unavoidable sampling granularity of the encoder counts being turned into velocity, and so adds a disturbance noise to the system. If you are lucky, you can get enough damping before that noise starts to make it worse.
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